Add INFORM job list service

[gavanderhoorn]

Work towards #278.

This implements a basic job/list function which returns the names of all jobs (*.JBI) on the controller.

I've submitted this as a small PR to avoid opening something for all 5 services at once. It is fully functional though, hence this is not a draft.

There are a couple of TODOs which I'd like to discuss.

Note: this depends on new messages in motoros2_interfaces: Yaskawa-Global/motoros2_interfaces#21.

[gavanderhoorn]

Note: CI will fail as there is no build of micro_ros_motoplus with the changes in Yaskawa-Global/motoros2_interfaces@main...gavanderhoorn:motoros2_interfaces:inform_crud.

[gavanderhoorn]

I've addressed most of the discussed changes in functionality. Tested it here as well and it still works.

Just need to test behaviour when there are more jobs than allowed, define proper result_codes and document it all.

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Edit:

need to test behaviour when there are more jobs than allowed

this case is handled correctly.

@ted-miller: I first thought to always return the first N jobs, but use a non-success result_code in case more jobs than 'allowed' exist, but in the end I've changed the implementation to just return a specific failure result_code and just return an empty list.

[ted-miller]

I don't see any issues. But I'm struggling to build right now.

So, If you're happy and have tested it, then feel free to merge. Otherwise, I'll get my stuff fixed on monday and actually run it.

[gavanderhoorn]

I have tested, but I'd like some independent confirmation I'm not making (implicit) assumptions about how things work based on my controller configuration.

I'll make a build of micro_ros_motoplus available to you with the needed interfaces.

[ted-miller]

I have fixed my build.

[ted-miller]

Works well. I also verified that it lists macro jobs and system jobs.

Japanese names come across as gibberish. But this is to be expected. (Yaskawa-Global/motoros2_interfaces#21 (comment))

[gavanderhoorn]

@ted-miller: I believe this is the final version of this PR.

Switched to named result codes and strings, renamed files to match the fact it's now specifically about INFORM jobs and updated all references.

If you could take a last look?

To make it easier: 20240723_mr2_yrc1_h_inform_list_rc2.7z.zip - removed (it's not a .zip).

This should not require any updates on the motoros2_interfaces side, but just in case: I updated Yaskawa-Global/motoros2_interfaces#21.

[gavanderhoorn]

I'll likely squash some of the commits before merging.

[ted-miller]

I'll give this a run first-thing tomorrow

[ted-miller]

Looks good. Tested on YRC. But since you're using vanilla M+ API's, I'm not worried about other controllers.

[ted-miller]

@gavanderhoorn Do you want to merge this, or pull inform_job_crud_the_rest into it first?

[gavanderhoorn]

I'd like to take another look at how this reports errors to the client. I just haven't found time to do that yet.